Title:
ADAPTIVE VARIABLE IMPEDANCE ELECTRIC DRIVING SYSTEM FOR ROBOT, CONTROL METHOD, AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2023/213243
Kind Code:
A1
Abstract:
An adaptive variable impedance electric driving system for a robot and a control method therefor. An embodiment comprises: acquiring electric driving system sensor signals comprising a motor current or a drive joint torque, a rotational speed, and a position signal; adaptively configuring stiffness parameters according to a movement and operation scenario of a robot; calculating a joint damping parameter of the electric driving system according to the rotational speed and the torque of a driving joint; determining a necessary joint torque of the electric driving system according to the stiffness parameters and the joint damping parameter, so as to perform closed-loop adaptive control on the robot driving joint on the basis of an impedance control mode of a force inner loop. The robot driving system does not need the addition of mechanical parts such as additional elastic and damping parts, the stiffness and damping of the robot driving system are directly altered in real time by means of an active control method, causing the robot to be more intelligent and limber, and improvement of interactivity of the robot with the environment is facilitated, especially movement buffering and damping capacity of legged robots. The present invention further relates to an adaptive variable impedance electric driving system for a robot and a computer readable storage medium.
Inventors:
ZHU SHIQIANG (CN)
XIE ANHUAN (CN)
ZHOU WEIGANG (CN)
KONG LINGYU (CN)
HUA QIANG (CN)
CHENG CHAO (CN)
XIE ANHUAN (CN)
ZHOU WEIGANG (CN)
KONG LINGYU (CN)
HUA QIANG (CN)
CHENG CHAO (CN)
Application Number:
PCT/CN2023/091649
Publication Date:
November 09, 2023
Filing Date:
April 28, 2023
Export Citation:
Assignee:
ZHEJIANG LAB (CN)
International Classes:
B25J9/16; B25J9/12; B25J13/08
Foreign References:
| CN112847327A | 2021-05-28 | |||
| CN106483964A | 2017-03-08 | |||
| CN110027002A | 2019-07-19 | |||
| CN111037573A | 2020-04-21 | |||
| CN113858201A | 2021-12-31 | |||
| US20140379131A1 | 2014-12-25 |
Attorney, Agent or Firm:
HANGZHOU TIANQIN INTELLECTUAL PROPERTY AGENCY CO., LTD (CN)
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